Search found 41 matches

by dave_rollinson
Mon Aug 31, 2020 10:04 am
Forum: Actuators
Topic: Large Error in feedback velocity and irregular feedback effort for actuator
Replies: 3
Views: 7982

Re: Large Error in feedback velocity and irregular feedback effort for actuator

The actuator likely has an issue with its encoder. Please let us know the serial number, and we will get a replacement actuator out to you immediately via your distributor, Nihon Binary.

Thanks,
-Dave
by dave_rollinson
Wed Aug 26, 2020 11:43 am
Forum: Actuators
Topic: Covariance matrix IMU
Replies: 2
Views: 11896

Re: Covariance matrix IMU

Istvan, Thanks for the question. We have received this question a few times in the past. Sorry in advance for the long response. Odometry from IMUs: Obtaining position estimates from IMUs is really tough to do in practice. The IMUs we use (either the MPU-6500 or the ICM-20602 from TDK) do not have t...
by dave_rollinson
Thu Aug 06, 2020 9:09 pm
Forum: Kits|Arms
Topic: How to Avoid Self Collisions using MoveIt?
Replies: 8
Views: 16186

Re: How to Avoid Self Collisions using MoveIt?

Looking at the log again, I don't see any sign of the joint-level limits being set or reached while running. The only time the actuators don't track isn't because of them hitting any sort of set position limit, its just the commanded positions / velocities moving really fast and the actuator not bei...
by dave_rollinson
Wed Aug 05, 2020 7:14 pm
Forum: Kits|Arms
Topic: How to Avoid Self Collisions using MoveIt?
Replies: 8
Views: 16186

Re: How to Avoid Self Collisions using MoveIt?

Mark, Thanks for attaching the log. It was only for one actuator, J1_shoulder1, but I think it gave some insight into what's going on. Occasionally the arm is being commanded to make very large moves in a short period of time. This might have something to do with a 0-2*pi wraparound that's not being...
by dave_rollinson
Thu Jul 30, 2020 12:47 pm
Forum: Actuators
Topic: Custom AGV velocity question
Replies: 4
Views: 8927

Re: Custom AGV velocity question

Istvan, Sorry for the delay in replying. The API for command actuator motion works a differently than what you're describing. Rather than command a large step in position and wait, the API is intended to be used where positions / velocities / torques (effort) are commanded continuously at a high rat...
by dave_rollinson
Mon Jul 20, 2020 11:48 am
Forum: Actuators
Topic: Custom AGV velocity question
Replies: 4
Views: 8927

Re: Custom AGV velocity question

István, With the mobile bases, it's best if you can use all actuators of the same type. The reason the actuators track differently is that the X5-9s have significantly more torque compared to the X5-1s, so they track the velocity command more easily under acceleration load and wheel friction. I don'...
by dave_rollinson
Mon Jul 06, 2020 11:24 am
Forum: Actuators
Topic: Abnormally High Effort Readings
Replies: 2
Views: 8001

Re: Abnormally High Effort Readings

Fahad,

There is likely a problem with one of the output encoders that is used to measure torque. We will be sending you a replacement actuator today, via your distributor. Please return your X8-3 once you have received your replacement.

Thanks,
-Dave
by dave_rollinson
Mon Jun 08, 2020 12:37 pm
Forum: General
Topic: Network topology discovery
Replies: 7
Views: 49167

Re: Network topology discovery

One more comment on the LEDs to identify actuators: This situation is why two of the buttons in Scope on the Dashboard, and in the right-click menu for the Module List, are 'Red LED' and 'Clear LED'. You can select an actuator, and manually check the position on the robot, and then change its name, ...
by dave_rollinson
Wed Jun 03, 2020 3:58 pm
Forum: General
Topic: Network topology discovery
Replies: 7
Views: 49167

Re: Network topology discovery

Like Curtis said, we don't have a great general way of determining ID. The two methods we've tried to get a partial solution so far only work for actuators that are known to be chained together in series. Using Kinematics + IMUs: We've tested out using the IMUs to quickly identify actuators that are...
by dave_rollinson
Tue May 26, 2020 5:36 pm
Forum: Actuators
Topic: Motor Temperature LED Status
Replies: 0
Views: 10149

Motor Temperature LED Status

There was a question recently about at what motor winding temperature does the actuator status LED start to blink red, indicating the thermal safety controller is active. https://docs.hebi.us/core_concepts.html#led-status-codes On the X-Series and R-Series actuators, the LED starts blinking at 130 d...